-- Copyright 2016 The Cartographer Authors -- -- Licensed under the Apache License, Version 2.0 (the "License" ); -- you may not use this file except in compliance with the License. -- You may obtain a copy of the License at -- -- http: //www.apache.org/licenses/LICENSE-2.0 -- -- Unless required by applicable law or agreed to in writing, software -- distributed under the License is distributed on an "AS IS" BASIS, -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -- See the License for the specific language governing permissions and -- limitations under the License. include "map_builder.lua" include "trajectory_builder.lua" options = { map_builder = MAP_BUILDER, trajectory_builder = TRAJECTORY_BUILDER, map_frame = "map" , tracking_frame = "laser" , published_frame = "laser" , odom_frame = "odom" , provide_odom_frame = true , use_odometry = false , num_laser_scans = 1, num_multi_echo_laser_scans = 0, num_subdivisions_per_laser_scan = 1, num_point_clouds = 0, lookup_transform_timeout_sec = 0.2, submap_publish_period_sec = 0.3, pose_publish_period_sec = 5e-3, trajectory_publish_period_sec = 30e-3, rangefinder_sampling_ratio = 1., odometry_sampling_ratio = 1., imu_sampling_ratio = 1., } MAP_BUILDER.use_trajectory_builder_2d = true TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35 TRAJECTORY_BUILDER_2D.min_range = 0.3 TRAJECTORY_BUILDER_2D.max_range = 8. TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1. TRAJECTORY_BUILDER_2D.use_imu_data = false TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 POSE_GRAPH.optimization_problem.huber_scale = 1e2 POSE_GRAPH.optimize_every_n_nodes = 35 POSE_GRAPH.constraint_builder.min_score = 0.65 return options |